CN109316731B - A kind of long-range ectoskeleton is given lessons robot - Google Patents
A kind of long-range ectoskeleton is given lessons robot Download PDFInfo
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- CN109316731B CN109316731B CN201810989594.1A CN201810989594A CN109316731B CN 109316731 B CN109316731 B CN 109316731B CN 201810989594 A CN201810989594 A CN 201810989594A CN 109316731 B CN109316731 B CN 109316731B
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- ectoskeleton
- bracket
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- 230000033001 locomotion Effects 0.000 claims abstract description 36
- 239000011521 glass Substances 0.000 claims abstract description 22
- 210000000689 upper leg Anatomy 0.000 claims description 17
- 210000000245 forearm Anatomy 0.000 claims description 15
- 238000004891 communication Methods 0.000 claims description 13
- 210000000988 bone and bone Anatomy 0.000 claims 1
- 238000000034 method Methods 0.000 description 11
- 230000008569 process Effects 0.000 description 7
- 238000012937 correction Methods 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 210000003414 extremity Anatomy 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000012549 training Methods 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
- A63B71/06—Indicating or scoring devices for games or players, or for other sports activities
- A63B71/0619—Displays, user interfaces and indicating devices, specially adapted for sport equipment, e.g. display mounted on treadmills
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
- A63B71/06—Indicating or scoring devices for games or players, or for other sports activities
- A63B71/0619—Displays, user interfaces and indicating devices, specially adapted for sport equipment, e.g. display mounted on treadmills
- A63B71/0622—Visual, audio or audio-visual systems for entertaining, instructing or motivating the user
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
- A63B71/06—Indicating or scoring devices for games or players, or for other sports activities
- A63B71/0619—Displays, user interfaces and indicating devices, specially adapted for sport equipment, e.g. display mounted on treadmills
- A63B2071/0647—Visualisation of executed movements
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/80—Special sensors, transducers or devices therefor
- A63B2220/806—Video cameras
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2230/00—Measuring physiological parameters of the user
- A63B2230/62—Measuring physiological parameters of the user posture
Landscapes
- Engineering & Computer Science (AREA)
- Human Computer Interaction (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Multimedia (AREA)
- Manipulator (AREA)
Abstract
The present invention discloses a kind of long-range ectoskeleton and gives lessons robot, and including ectoskeleton bracket, the display device on ectoskeleton bracket, SCM system, joint and bandage, user puts on ectoskeleton bracket using bandage；Display device includes glasses, loudspeaker, video camera, video camera is used to shoot sport video when user puts on ectoskeleton bracket, and user's wearing spectacles watch video, passes through the voice that loudspeaker plays video；Joint includes motor, encoder, gyroscope, and encoder and gyroscope are used to acquire motion information when user puts on ectoskeleton bracket, and motor is for providing the power of ectoskeleton support motion；SCM system includes single-chip microcontroller, and glasses, loudspeaker, video camera, motor, encoder, gyroscope are electrically connected with single-chip microcontroller.Long-range one-to-one teaching-guiding can be achieved in the present invention, and instruction cost is effectively reduced, promotes efficiency of teaching.
Description
Technical field
It gives lessons robot the present invention relates to artificial intelligence interactive teaching technical field more particularly to a kind of long-range ectoskeleton.
Background technique
Since present sport, body-building type are given lessons, it usually needs engage special coach being trained, and standard
The mode that describes in words of limb action itself be difficult to give lessons, optimum efficiency be it is one-to-one instructed, teach in this way
White silk can carry out giving lessons for the improvement changed for the characteristics of student；In addition, basic training of the fine arts, musical instrument etc. also has similar property
Matter, relys more on the control ability to body, and the study of this ability is different from the study of theoretical course.However, these are artistic,
High-level teacher's cost of sport category is again very high, is difficult to be popularized in existing teaching, how to reduce instruction cost, is promoted
Efficiency of teaching is particularly important.
Existing some distance teaching apparatus or method can not efficiently solve teaching process middle school student to the reason such as movement
Problem not in place is solved, and cannot achieve the one-to-one method imparted knowledge to students with body come the study of instruction of papil, meanwhile, lack anti-
Infeed mechanism, can not students ' study situation, just can not targetedly be imparted knowledge to students.
Therefore, it is necessory to design a teaching product for solving above-mentioned problem of the prior art.
Summary of the invention
In view of this, the embodiment provides a kind of long-range ectoskeletons to give lessons robot, it can be achieved that long-range one
To a teaching-guiding, instruction cost is effectively reduced, promotes efficiency of teaching.
To achieve the above object, present invention employs a kind of technical solutions: a kind of long-range ectoskeleton is given lessons robot, described
Long-range ectoskeleton give lessons robot include ectoskeleton bracket, the display device on the ectoskeleton bracket, SCM system,
Joint and bandage, user put on the ectoskeleton bracket using the bandage；
The display device includes glasses, loudspeaker, video camera, and the video camera is put on outside described for shooting user
Sport video when skeletal support frame, user wear the glasses to watch the video shot by the video camera, by described
The voice of loudspeaker broadcasting video；
The joint includes motor, encoder, gyroscope, and the encoder and gyroscope, which are used to acquire user, puts on institute
Motion information when ectoskeleton bracket is stated, the motor is used to provide the described the power of ectoskeleton support motion；
The SCM system includes single-chip microcontroller, and the glasses, loudspeaker, video camera, motor, encoder, gyroscope are equal
Be electrically connected with single-chip microcontroller, by the single-chip microcontroller control video camera shooting video, the glasses and loudspeaker play video,
The motor drives the movement of the ectoskeleton bracket, and the single-chip microcontroller receives the movement letter of the encoder, gyroscope acquisition
Breath, and analyze its motion state.
Further, the ectoskeleton bracket includes head, body, large arm, forearm, hand, thigh, shank and foot.
Further, the head and body, the large arm and body, the forearm and large arm, the hand and forearm, institute
It states thigh and passes through the joint with body, the shank and thigh, the foot and shank and be attached, to pass through the joint
Record the motion state at each position of ectoskeleton bracket.
Further, the bandage is set to the head of the ectoskeleton bracket, body, large arm, forearm, hand, thigh, shank
On foot, user binds the corresponding position of its body using the bandage at each position to put on the ectoskeleton bracket.
Further, the glasses, loudspeaker are set on the head of the ectoskeleton bracket.
Further, the SCM system is set on the body of the ectoskeleton bracket.
Further, the quantity of the large arm of the ectoskeleton bracket, forearm, hand, thigh, shank and foot is two.
Further, the SCM system further includes the communication module being electrically connected with the single-chip microcontroller, two machines
People is attached by respective communication module, mutually to transmit the video of the respective video camera shooting, by respective institute
State the motion state of single-chip microcontroller analysis.
Further, the communication module includes WiFi module, bluetooth module.
Further, the SCM system further includes the power module being electrically connected with the single-chip microcontroller, for powering.
The technical solution that the embodiment of the present invention provides has the benefit that (1) can carry out remote online teaching, teaches
The position of teacher is unrestricted；(2) data of Faculty and Students are obtained in real time, and carry out intelligent Matching, with timely correction student's
Movement not in place promotes teaching efficiency；(3) a full set of teaching process of teacher is stored, student plays back on demand.
Detailed description of the invention
Fig. 1 is that long-range ectoskeleton of the invention is given lessons the structural schematic diagram of robot；
Fig. 2 is that long-range ectoskeleton of the invention is given lessons the composition schematic diagram of robot.
In figure: 10- display device, 11- glasses, 12- loudspeaker, 13- video camera, 20- SCM system, 21- single-chip microcontroller,
22- communication module, 23- power module, the joint 30-, 31- motor, 32- encoder, 33- gyroscope, 40- ectoskeleton bracket, 41-
Head, 42- body, 43- large arm, 44- forearm, 45- hand, 46- thigh, 47- shank, 48- foot, 50- bandage.
Specific embodiment
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with attached drawing to embodiment party of the present invention
Formula is further described.
As shown in Figs. 1-2, it gives lessons robot, including display device embodiment of the invention discloses a kind of long-range ectoskeleton
10, SCM system 20, joint 30, ectoskeleton bracket 40, bandage 50, the display device 10, joint 30 with the monolithic
Machine system 20 is electrically connected, and the display device 10, SCM system 20, joint 30, bandage 50 are set to the ectoskeleton branch
On frame 40.
The display device 10 includes glasses 11, loudspeaker 12, video camera 13, and the video camera 13 is for shooting user
The sport video when ectoskeleton bracket 40 is put on, for example, when teacher puts on the ectoskeleton bracket 40 and imparts knowledge to students, it will
The video camera 13 is placed on suitable position, for shooting and storing the teaching process of teacher, and is transferred to the single-chip microcontroller system
System 20, controls the glasses 11 by the SCM system 20 and loudspeaker 12 is shown and played the video camera 13 and shoots
Video；In another example the video camera 13 is placed on suitable position when student puts on the ectoskeleton bracket 40 and learns
It sets, for shooting and storing the learning process of student, and is transferred to the SCM system 20 and stores.The glasses 11 can be used
In viewing video (for example, study video of the instructional video of teacher or student), the loudspeaker 12 is used to play the sound of video
Sound.
The ectoskeleton bracket 40 is equipped with multiple joints 30, and the joint 30 includes motor 31, encoder 32, gyroscope
33, the motor 31 is used to provide power, so that the ectoskeleton bracket 40 moves；The encoder 32 and gyroscope 33 are equal
For acquiring motion information when user puts on the ectoskeleton bracket 40, such as the encoder 32 for acquiring the pass
The angular speed of 30 rotation of section, angle, and the information acquired is transferred to the single-chip microcontroller 21；The gyroscope 33 is for acquiring
Acceleration, for example, the acceleration in all directions for passing through acquisition x-y-z three-coordinate, and the information acquired is transferred to
The single-chip microcontroller 21, acquisition information of the single-chip microcontroller 21 based on the encoder 32 and gyroscope 33 can analyze described outer
The motion state at each position of skeletal support frame 40.
The SCM system 20 includes single-chip microcontroller 21, the communication module 22 being electrically connected with the single-chip microcontroller 21 and electricity
Source module 23, the single-chip microcontroller 21 and glasses 11, loudspeaker 12, video camera 13, motor 31, encoder 32, gyroscope 33 electricity
Property connection.The single-chip microcontroller 21 controls the video camera 13 and shoots video, and receives and store the video of its shooting, to pass through
Communication module 22 is stated to be transmitted.The single-chip microcontroller 21 controls the glasses 11, the display of loudspeaker 12 and plays by the camera shooting
The video that machine 13 is shot, user wear the glasses 11 to watch video；The single-chip microcontroller 21 receives the encoder 32, top
Spiral shell instrument 33 transmit acquisition information, and handle analyze each position of the ectoskeleton bracket 40 motion state (e.g., including fortune
Dynamic stress and track etc.)；The motion state at each position of the ectoskeleton bracket 40 based on above-mentioned analysis, the single-chip microcontroller 21
The motion state that the motor 31 restores each position of the ectoskeleton bracket 40 is controlled, the purpose of teaching and guidance is reached with this.
The communication module 22 mutually transmits the respective camera shooting for connecting and transmitting information, such as connection Liang Ge robot
The motion state at each position of the ectoskeleton bracket 40 of video, the analysis of the single-chip microcontroller 21 that machine 13 is shot, the communication mould
Block 22 includes but is not limited to WiFi module, bluetooth module.The power module 23 is for powering, for example, described display device
10, SCM system 20 and joint 30 etc. are powered.
The ectoskeleton bracket 40 includes head 41, body 42, large arm 43, forearm 44, hand 45, thigh 46,47 and of shank
The positions such as foot 48, the head 41 are set to the top of the body 42, and the large arm 43 is set to the top two sides of the body 42,
The thigh 46 is set to the lower part two sides of the body 42.Each position of the ectoskeleton bracket 40 passes through the joint 30 and connects
Connect namely the head 41 and body 42, the large arm 43 and body 42, the forearm 44 and large arm 43, the hand 45 with it is small
Arm 44, the thigh 46 and body 42, the shank 47 and thigh 46, the foot 48 and shank 47 by the joint 30 into
Row connection.The bandage 50 is set on the ectoskeleton bracket 40, is including but not limited to set to the head 41, body 42, big
It is each to record the ectoskeleton bracket 40 by the joint 30 on arm 43, forearm 44, hand 45, thigh 46, shank 47 and foot 48
The motion state at position.
Teacher or student can bind the corresponding position of its body by the bandage 50 at each position, by the ectoskeleton branch
Frame 40 is worn, and is imparted knowledge to students or is learnt after putting on the ectoskeleton bracket 40.Preferably, the glasses 11, loudspeaker 12
On the head 41 of the ectoskeleton bracket, the SCM system 20 is set on the body 42 of the ectoskeleton bracket 40.
Preferably, the quantity of the large arm 43 of the ectoskeleton bracket 40, forearm 44, hand 45, thigh 46, shank 47 and foot 48 is two
It is a.
Application method of the invention are as follows: Faculty and Students are each with the bandage 50, respectively by the ectoskeleton bracket
40 bind together with own bodies, namely have respectively put on the ectoskeleton bracket 40, and pass through its respective described communication
The robot of the two is attached by module 22；When teacher puts on the ectoskeleton bracket 40 and imparts knowledge to students, teacher side is utilized
The video camera 13 shoots video, to record the teaching process of teacher, and the instructional video of shooting is transferred to its single-chip microcontroller 21；
Each position motion information of the ectoskeleton bracket 40 is recorded using the encoder 32 in each joint 30, gyroscope 33, and
Its single-chip microcontroller 21 is transferred to analyze the motion state at each position, shape by the video of shooting and is moved by the communication module 22
State is transferred to the single-chip microcontroller 21 of the robot of student side；Student is when putting on the ectoskeleton bracket 40 and learning, by wearing
The upper glasses 11 carry out the instructional video of viewing teacher, control the glasses 11 by the single-chip microcontroller 21, loudspeaker 12 plays
The video of shooting, meanwhile, the single-chip microcontroller 21 controls the movement that the motor 31 drives the ectoskeleton bracket 40 of student side
To restore the motion state of teacher, to guide the study of student, in addition, the video camera 13 can be placed in place,
Shooting video is carried out to student, to record the learning process of student, while utilizing the encoder 32, the gyro in each joint 30
Instrument 33 records each position motion information of the ectoskeleton bracket 40, gives the study video and motion information transmission of shooting to its list
Piece machine 21 is returned to the single-chip microcontroller 21 of the teacher side to analyze the motion state at each position, and teacher can be by passing back
Video and the ectoskeleton bracket 40 each position motion state, the study situation of student is analyzed, carry out needle is facilitated
Correction to property is achieved in long-range one-to-one teaching.
Meanwhile being stored in each position of the instructional video in the single-chip microcontroller 21 of student side and the ectoskeleton bracket 40
Motion state can be played repeatedly, to facilitate repetition learning and the practice of student；Student is stored in the monolithic of student side
Each position motion state of study video and the ectoskeleton bracket 40 in machine 21 can be played repeatedly, to facilitate student's
Self-correction.The robot of teacher side can be attached from the robot of different students, be imparted knowledge to students with facilitating to multiple students；
The robot of student side can also be attached from the robot of different teachers, to facilitate the guidance for obtaining multiple teachers.
The technical solution that the embodiment of the present invention provides has the benefit that (1) can carry out remote online teaching, teaches
The position of teacher is unrestricted；(2) data of Faculty and Students are obtained in real time, and carry out intelligent Matching, with timely correction student's
Movement not in place promotes teaching efficiency；(3) a full set of teaching process of teacher is stored, student plays back on demand.
It is worth noting that: in the description of the present invention, the meaning of " plurality " is two or more, unless otherwise bright
It is really specific to limit.In the present invention unless specifically defined or limited otherwise, term " installation ", " connected ", " connection ", " Gu
It is fixed " etc. terms shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected, can
To be mechanical connection, for the ordinary skill in the art, above-mentioned term can be understood in this hair as the case may be
Concrete meaning in bright.
Herein, the nouns of locality such as related front, rear, top, and bottom are to be located in figure with components in attached drawing and zero
Part mutual position defines, only for the purpose of expressing the technical solution clearly and conveniently.It should be appreciated that the noun of locality
Use should not limit the claimed range of the application.
In the absence of conflict, the feature in embodiment and embodiment herein-above set forth can be combined with each other.
The foregoing is merely presently preferred embodiments of the present invention, is not intended to limit the invention, it is all in spirit of the invention and
Within principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (10)
- The robot 1. a kind of long-range ectoskeleton is given lessons, it is characterised in that: long-range ectoskeleton robot of giving lessons includes ectoskeleton Bracket, display device, SCM system, joint and bandage on the ectoskeleton bracket, user utilize the bandage Put on the ectoskeleton bracket；The display device includes glasses, loudspeaker, video camera, and the video camera puts on the ectoskeleton for shooting user Sport video when bracket, user wear the glasses to watch the video shot by the video camera, pass through the loudspeaking The voice of device broadcasting video；The joint includes motor, encoder, gyroscope, and the encoder and gyroscope are put on outside described for acquiring user Motion information when skeletal support frame, the motor are used to provide the described the power of ectoskeleton support motion；The SCM system includes single-chip microcontroller, the glasses, loudspeaker, video camera, motor, encoder, gyroscope with list Piece machine is electrically connected, and is controlled video camera shooting video, the glasses and loudspeaker by the single-chip microcontroller and is played video, described Motor drives the movement of the ectoskeleton bracket, and the single-chip microcontroller receives the motion information of the encoder, gyroscope acquisition, and Analyze its motion state.
- The robot 2. long-range ectoskeleton according to claim 1 is given lessons, it is characterised in that: the ectoskeleton bracket includes head Portion, body, large arm, forearm, hand, thigh, shank and foot.
- The robot 3. long-range ectoskeleton according to claim 2 is given lessons, it is characterised in that: the head and body, described Large arm and body, the forearm and large arm, the hand and forearm, the thigh and body, the shank and thigh, the foot and Shank passes through the joint and is attached, to record the motion state at each position of ectoskeleton bracket by the joint.
- The robot 4. long-range ectoskeleton according to claim 2 is given lessons, it is characterised in that: the bandage is set to the dermoskeleton On the head of bone bracket, body, large arm, forearm, hand, thigh, shank and foot, user binds it using the bandage at each position The corresponding position of body is to put on the ectoskeleton bracket.
- The robot 5. long-range ectoskeleton according to claim 2 is given lessons, it is characterised in that: the glasses, loudspeaker are set to On the head of the ectoskeleton bracket.
- The robot 6. long-range ectoskeleton according to claim 2 is given lessons, it is characterised in that: the SCM system is set to institute On the body for stating ectoskeleton bracket.
- The robot 7. long-range ectoskeleton according to claim 2 is given lessons, it is characterised in that: the ectoskeleton bracket it is big Arm, forearm, hand, thigh, shank and foot quantity be two.
- The robot 8. long-range ectoskeleton according to claim 1 is given lessons, it is characterised in that: the SCM system further includes The communication module being electrically connected with the single-chip microcontroller, Liang Ge robot is attached by respective communication module, mutually to pass The video of the defeated respective video camera shooting, the motion state analyzed by the respective single-chip microcontroller.
- The robot 9. long-range ectoskeleton according to claim 8 is given lessons, it is characterised in that: the communication module includes WiFi Module, bluetooth module.
- The robot 10. long-range ectoskeleton according to claim 1 is given lessons, it is characterised in that: the SCM system also wraps The power module being electrically connected with the single-chip microcontroller is included, for powering.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810989594.1A CN109316731B (en) | 2018-08-28 | 2018-08-28 | A kind of long-range ectoskeleton is given lessons robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810989594.1A CN109316731B (en) | 2018-08-28 | 2018-08-28 | A kind of long-range ectoskeleton is given lessons robot |
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| Publication Number | Publication Date |
|---|---|
| CN109316731A CN109316731A (en) | 2019-02-12 |
| CN109316731B true CN109316731B (en) | 2019-09-24 |
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| CN201810989594.1A Expired - Fee Related CN109316731B (en) | 2018-08-28 | 2018-08-28 | A kind of long-range ectoskeleton is given lessons robot |
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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114011036B (en) * | 2021-11-02 | 2023-10-24 | 宿州唐河爷网络科技发展有限公司 | Induced action teaching method |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2012143449A (en) * | 2011-01-13 | 2012-08-02 | Equos Research Co Ltd | Walking assistance device and walking assistance program |
| JP2015002970A (en) * | 2012-12-03 | 2015-01-08 | 国立大学法人信州大学 | Non-exoskeletal robotic wear |
| CN105213156A (en) * | 2015-11-05 | 2016-01-06 | 京东方科技集团股份有限公司 | A kind of power exoskeleton and control method thereof |
| CN106580637A (en) * | 2016-12-21 | 2017-04-26 | 无锡太湖学院 | Exoskeleton robot |
-
2018
- 2018-08-28 CN CN201810989594.1A patent/CN109316731B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2012143449A (en) * | 2011-01-13 | 2012-08-02 | Equos Research Co Ltd | Walking assistance device and walking assistance program |
| JP2015002970A (en) * | 2012-12-03 | 2015-01-08 | 国立大学法人信州大学 | Non-exoskeletal robotic wear |
| CN105213156A (en) * | 2015-11-05 | 2016-01-06 | 京东方科技集团股份有限公司 | A kind of power exoskeleton and control method thereof |
| CN105213156B (en) * | 2015-11-05 | 2018-07-27 | 京东方科技集团股份有限公司 | A kind of power exoskeleton and its control method |
| CN106580637A (en) * | 2016-12-21 | 2017-04-26 | 无锡太湖学院 | Exoskeleton robot |
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